-- Visual hand-eye and tool TCP calibration profiles. Apply once before using the management page.
CREATE TABLE IF NOT EXISTS `te_vision_calibration_profile` (
  `id` varchar(32) NOT NULL,
  `profile_type` varchar(20) NOT NULL COMMENT 'HAND_EYE or TOOL_TCP',
  `profile_key` varchar(100) NOT NULL COMMENT 'Stable logical key used by workflows',
  `profile_name` varchar(100) NOT NULL,
  `version_no` int NOT NULL DEFAULT 1,
  `robot_id` varchar(128) NOT NULL,
  `arm_device_id` varchar(128) NOT NULL,
  `camera_device_id` varchar(128) DEFAULT NULL,
  `tool_code` varchar(100) DEFAULT NULL,
  `status` varchar(20) NOT NULL DEFAULT 'DRAFT' COMMENT 'DRAFT, ACTIVE, INVALID',
  `forced_enabled` tinyint(1) NOT NULL DEFAULT 0,
  `raw_matrix_json` text NOT NULL,
  `correction_json` varchar(500) DEFAULT NULL COMMENT 'x/y/z mm and rx/ry/rz degree correction',
  `effective_matrix_json` text NOT NULL,
  `mean_error_mm` decimal(10,4) DEFAULT NULL,
  `max_error_mm` decimal(10,4) DEFAULT NULL,
  `sample_count` int NOT NULL DEFAULT 0,
  `metadata_json` text DEFAULT NULL,
  `verified_time` datetime DEFAULT NULL,
  `create_by` varchar(64) DEFAULT NULL,
  `create_time` datetime DEFAULT NULL,
  `update_by` varchar(64) DEFAULT NULL,
  `update_time` datetime DEFAULT NULL,
  `remark` varchar(500) DEFAULT NULL,
  PRIMARY KEY (`id`),
  UNIQUE KEY `uk_vision_profile_version` (`profile_key`, `version_no`),
  KEY `idx_vision_profile_devices` (`profile_type`, `robot_id`, `arm_device_id`, `camera_device_id`),
  KEY `idx_vision_profile_tool` (`profile_type`, `robot_id`, `arm_device_id`, `tool_code`),
  KEY `idx_vision_profile_active` (`profile_key`, `status`)
) ENGINE=InnoDB DEFAULT CHARSET=utf8mb4 COMMENT='Visual calibration profile versions';

CREATE TABLE IF NOT EXISTS `te_vision_calibration_record` (
  `id` varchar(32) NOT NULL,
  `profile_id` varchar(32) DEFAULT NULL,
  `session_type` varchar(30) NOT NULL COMMENT 'HAND_EYE, HAND_EYE_VERIFY, TOOL_TCP',
  `robot_id` varchar(128) NOT NULL,
  `arm_device_id` varchar(128) NOT NULL,
  `camera_device_id` varchar(128) DEFAULT NULL,
  `tool_code` varchar(100) DEFAULT NULL,
  `status` varchar(20) NOT NULL COMMENT 'RUNNING, COMPLETED, FAILED, CANCELLED',
  `progress_step` int NOT NULL DEFAULT 0,
  `total_steps` int NOT NULL DEFAULT 0,
  `samples_json` longtext DEFAULT NULL,
  `result_json` longtext DEFAULT NULL,
  `error_message` varchar(1000) DEFAULT NULL,
  `started_time` datetime DEFAULT NULL,
  `finished_time` datetime DEFAULT NULL,
  `create_by` varchar(64) DEFAULT NULL,
  `create_time` datetime DEFAULT NULL,
  `update_by` varchar(64) DEFAULT NULL,
  `update_time` datetime DEFAULT NULL,
  `remark` varchar(500) DEFAULT NULL,
  PRIMARY KEY (`id`),
  KEY `idx_vision_record_profile` (`profile_id`),
  KEY `idx_vision_record_devices` (`robot_id`, `arm_device_id`, `camera_device_id`),
  KEY `idx_vision_record_status` (`status`, `started_time`)
) ENGINE=InnoDB DEFAULT CHARSET=utf8mb4 COMMENT='Visual calibration execution and verification records';

INSERT INTO sys_menu(menu_id, menu_name, parent_id, order_num, path, component, query, route_name,
                     is_frame, is_cache, menu_type, visible, status, perms, icon,
                     create_by, create_time, update_by, update_time, remark)
VALUES
 (2205, '视觉标定管理', 2200, 5, 'vision-calibration', 'resource/visionCalibration/index', '', 'VisionCalibration',
  1, 0, 'C', '0', '0', '', 'aim', 'admin', NOW(), '', NULL, '机器人手眼标定与工具TCP管理')
ON DUPLICATE KEY UPDATE menu_name=VALUES(menu_name), parent_id=VALUES(parent_id), order_num=VALUES(order_num),
 path=VALUES(path), component=VALUES(component), route_name=VALUES(route_name), visible=VALUES(visible),
 status=VALUES(status), perms=VALUES(perms), update_by='admin', update_time=NOW(), remark=VALUES(remark);

-- Calibration management is available to every application role by product requirement.
INSERT IGNORE INTO sys_role_menu(role_id, menu_id)
SELECT role_id, 2205 FROM sys_role;